RU2406288C2 - Method of adjustment of work vehicle harvest agricultural machinery - Google Patents

Abstract

FIELD: agriculture.

SUBSTANCE: when adjusting the work vehicle of a harvesting machine with the help of a detector an image or series of images are created of the flow of harvested mass behind the device in the way of picked mass transportation under various settings with certain quantities of adjustment of controlled parametres of the working unit. Images or series of images are recorded with reference to them the values of adjustment of controlled parametres of the corresponding setting mode. Then based on analysis of the flow of harvested mass represented in images or series of images, an image or series of images is selected. Finally, using the selected image or series of images the adjustments of controlled parametres related to them are set at the appropriate operating unit.

EFFECT: invention provides a simple and reliable adjustment of working vehicles of a harvesting machine with optimal adaptation to the specific process of harvesting.

17 cl, 7 dwg

Description

Technical field

The present invention relates to a method for adjusting the working apparatus of a sweeper, in particular a self-propelled sweeper. In addition, the invention relates to a sweeper, in which at least one of the working devices can be adjusted in accordance with the method according to the invention.

State of the art

Agricultural harvesting machines, especially self-propelled harvesting machines, such as combine harvesters, field shredders and others, are equipped with a large number of adjustable working devices for processing various harvested crops. Moreover, in modern cleaning machines, individual working devices are equipped with adjusting devices that are remotely controlled from the operator's cab and through which these devices are adjusted or their various operating parameters are adjusted. Typical working devices for a combine harvester include, for example, a threshing machine, usually containing a concave and one or more threshing drums, as well as a cleaning device located behind the threshing machine and usually containing a fan and several sieves. Various harvested crops and harvesting conditions, such as humidity, vegetation height, soil properties and others, necessitate the adjustment of individual working devices or their parameters as accurately as possible in accordance with the individual processes to be performed in order to obtain an optimal overall working result.

Manufacturers of agricultural machines offer a variety of auxiliary equipment for operators, such as, for example, conducting training courses, providing tables by which the operator can select settings for various harvesting situations, or electronic auxiliary devices, such as electronic on-board information systems, from which you can choose the best combination combinations for a wide variety of cleaning situations. However, despite this, the operator, as before, is quite difficult to adjust the machine in such a way as to achieve optimal operation in accordance with the desired predefined parameters. This applies primarily to inexperienced and / or untrained operators, especially at the beginning of the cleaning season. As a result, in many cases, the harvesting machine or its working devices are not optimally tuned to the specific cleaning process, which leads to incomplete use of the machine's performance, to obtain poor work results or even to large losses of the harvested crop.

To solve these problems, US Pat. No. 6,119,442 describes a method for automatically adjusting the working apparatus of a sweeper. It, among other things, uses a machine monitoring device with an image sensor, which takes pictures of the harvested mass. Further, these images are processed in order, for example, to recognize the fraction of crushed grain, contaminants and other fractions in the cleaned stream of harvested mass and generate appropriate control signals for setting up the working devices. However, the overall method of image processing and control is associated with relatively high costs.

Disclosure of invention

Accordingly, the problem to which the present invention is directed is to create an alternative way of adjusting the working apparatus of the harvesting machine and the corresponding harvesting machine, which even with very complex relationships, the settings enable the operator, who does not have much experience, to easily and easily adjust the working apparatus of the harvester machines with optimal adaptation to a specific cleaning process.

In accordance with the invention, the solution of the problem is achieved due to the features set forth in paragraphs 1 and 13 of the claims.

According to the method in accordance with the invention, for adjusting the working apparatus of the harvesting machine in the position behind the corresponding working apparatus on the path of transporting the harvested mass, first create (i.e. form, make) images or series of images of the harvested mass flow at various settings with certain settings adjustable parameters of the working device. These images or series of images are recorded (i.e., stored in a memory device) with reference to the settings of the adjustable parameters of the corresponding setting mode. Then, based on the analysis, preferably qualitative analysis, of the images and the harvested mass flow shown on the images or series of images, an image or a series of images is selected, and finally, using the selected image or series of images, the corresponding parameter settings of the adjustable parameters are set on the corresponding operating device.

Thus, in this method, it is not necessary to make decisions on which parameters and in which direction it is necessary to regulate based on a complex assessment of current images. For example, it is not necessary to solve such questions as whether to choose a higher or lower number of revolutions of the threshing drum or to increase or decrease the cell size of the lower or upper sieve of the treatment apparatus. It is only necessary to decide on which of the obtained images the flow of the harvested mass has the best quality. In accordance with it, the already known settings of adjustable parameters are recorded, recorded (i.e., stored in the memory device) together with the image or series of images. Therefore, in General, the method is extremely easy and uncomplicated in operation.

To implement the method, the corresponding sweeper must be equipped with an image detector, for example, a camera on charge-coupled devices or a similar apparatus, which is located in a position (i.e., in a place or point) behind the corresponding working apparatus on the path of transporting the harvested mass to create images or series of images of the flow of harvested mass at this position. In this case, the image detector can be installed on the path of transporting the harvested mass stream either directly behind this working apparatus, or in a position on the path of this flow behind the following apparatuses. So, for example, to adjust the threshing apparatus in the combine, an image of the flow of the harvested mass can be captured in front of the treatment apparatus, immediately behind the threshing apparatus. However, it is also possible to adjust the threshing apparatus based on images or series of images of the flow of the cleaned harvested mass behind the treatment apparatus.

Preferably, images or series of images are created on the path of transporting the harvested mass between the outlet of the cleaning apparatus and the storage of harvested mass, for example, a grain hopper, or at the outlet of the flow of harvested mass, for example, on the discharge device of the grain hopper of a harvesting machine.

Next, you need an appropriate control device that affects the working device and the image detector and is made in such a way that the working device is brought into various settings through control with the installation of certain settings for the adjustable parameters, and with different settings for the working device, images or series of images of the flow of the harvested mass.

Further, a storage unit is necessary for recording images or a series of images with associated settings of adjustable parameters of the corresponding setting mode, as well as a selection unit for selecting an image or series of images based on the analysis of the flow of harvested mass represented on the images or series of images.

And finally, the sweeper should be equipped with a control device made in such a way that the corresponding working device is adjusted using the settings of the adjustable parameters related to the selected image or the selected series of images. It can be the same control device, which is also used to transfer the working device to various settings for receiving images or series of images. The control devices can also consist of several blocks or modules, and both control devices can, if necessary, use the same modules to adjust the working devices. Both control devices or a combined control device can be implemented, for example, in the form of software modules in one programmable control device of the sweeper.

The dependent claims set forth further preferred embodiments and further solutions for the development of the invention. Moreover, the sweeper according to the invention can be made in accordance with the characteristics set forth in the paragraphs relating to the method, and vice versa.

The analysis of the flow of the harvested mass represented on the images or series of images, as well as the selection of the image or series of images, can be done either visually by the operator, or semi-automatically or automatically. In this case, a qualitative analysis is preferably meant, but a quantitative assessment of the flow of the harvested mass can also be carried out.

As an example of a method that is technically very simple, it is possible to present images or series of images for the operator to select a harvesting machine. In this case, the selection unit should be equipped with an appropriate indicator device for presenting images or series of images created in various settings, as well as a sensing device for receiving an operator selection command. Typically, modern sweepers are already equipped with appropriate user interfaces with a display and controls that can also be used for the purposes of the invention. In this case, it is preferable that the operator presents the images or series of images related to the various settings, at least partially in parallel, so that he can directly compare the images or series of images to determine the best settings and select the appropriate image or series of images. Thus, in this case, the analysis is performed by the operator of the harvesting machine by simply comparing the images.

An embodiment is also possible in which images or series of images created in different settings are automatically analyzed, and an image or series of images is selected based on the result of the analysis. For this, the sweeper must be equipped with an appropriate analysis unit, which can be implemented, for example, in the form of software in an appropriate programmable control device. Such automatic analysis can be performed using the conventional pattern recognition method, for example, using the object recognition method. For this, certain signs of images that are used in image processing as characteristic features for recognizing certain inclusions, such as fragments of straw or flooring, in the stream of the harvested mass can be recorded in the storage unit. As an example, the number of “foreign matter” within the image of the harvested mass flow can simply be calculated and a quality measure, such as the degree of contamination, the fraction of crushed grain, is determined on this basis. A rough assessment of the quality of the presented mass flow can also be made, such as “good”, “bad” or “acceptable”, etc.

This analysis result can preferably be used further for visual / manual selection by the operator of an image or series of images and is indicated with these images or series of images to support selection.

In another preferred embodiment, the selection can be made automatically, while the results of the analysis of various images are simply compared in a machine way. For this, the harvesting machine is preferably provided with an appropriate selection engine block, which may, for example, be included in the control processor of the harvesting machine.

In a particularly preferred embodiment, a specific image or series of images is selected with the selection unit and additionally images or series of images are presented to the operator, the image or series of images selected by the selection unit is marked and then the operator can either confirm the selection or select another image or series images and related setting mode.

For technical support of the analysis or selection of an image or a series of images, reference or reference images already recorded in the memory showing the flows of the harvested mass of various degrees of contamination can preferably be used. In particular, it is easier for the operator to decide with the help of such reference images during visual selection whether the flow of harvested mass has good or bad quality. Preferably, reference images are associated with quality data of the depicted flow of the harvested mass, which may, for example, be presented when displaying reference images. Such quality data can be an accurate quality statement, such as the degree of contamination, or a rough quality rating, such as “good”, “bad” or “acceptable”.

To set up a specific working device, for example, a threshing device or a cleaning device for a combine harvester, it is preferable that at least one adjustable parameter or one group of adjustable parameters of the working device is purposefully changed during the optimization process while keeping the remaining adjustable parameters constant and then with a certain setting of this adjustable parameter or group of adjustable parameters create an image or series of images. In this case, further in accordance with the invention, an image or a series of images is selected under various setting modes and the corresponding operating device is adjusted in accordance with the setting value of this adjustable parameter or the setting values of the group of adjustable parameters. During the next cycle, another adjustable parameter or another group of adjustable parameters is set in the same way.

The method according to the invention makes it possible to optimize several different working devices of the harvesting machine. In this case, it is preferable to adjust the working devices in the sequence in the direction of flow of the harvested mass. It is understood, for example, that first the threshing apparatus is optimized, and then the treatment apparatus, since the optimal parameters of the treatment apparatus also depend on the flow of the harvested mass coming from the threshing apparatus. However, in principle, a repetition method with several optimization cycles is possible, that is, carrying out several optimization cycles to achieve perfect tuning. Obviously, when optimizing the setting of the working devices, additional parameters important for the cleaning process, such as the flow rate of the harvested mass or the required minimum or maximum speed, can be taken into account.

As a starting adjustment value for a prescribed optimization method, for example, a basic adjustment mode can be selected, depending on the mass to be harvested and predefined as standard in most harvesting machines. Preferably, the image of the flow of the harvested mass at a certain setting mode is created only after a certain period of time has passed after entering this setting mode of the working device. In other words, the time delay for the “transition process” is given until the quality of the flow of the harvested mass at the image-picking site is actually determined by the set preset setting mode.

In a particularly preferred embodiment, together with the images or series of images, not only the adjustment values of the adjustable parameters of the working apparatus to be adjusted are recorded attached to them, but also the settings of the adjustable parameters of the other operating apparatuses of the harvesting machine at the time of imaging and / or other data of the harvesting conditions at the time create images. The advantage of the solution is that the operator can, for example, subsequently call up images or series of images of previous optimization processes together with the recorded settings of the adjustable parameters and this data. At the same time, when the setting of other working devices and the actual cleaning conditions are already known, the operator can, based on these previous data, select an image or a series of images for a good start-up setting. Subsequently, based on the entered tuning values, further optimization can be carried out in accordance with the method of the invention.

Brief List of Drawings

Next will be described in detail an example embodiment of the invention with reference to the accompanying drawings. In the drawings:

figure 1 schematically depicts a combine harvester in section,

figa-2D represent images of various flows of the harvested mass,

figure 3 schematically depicts the components of the system in a combine harvester, necessary for the control method according to the invention, as well as the relationship between the components,

4 depicts a flowchart of a possible process for obtaining series of images of a stream of harvested mass.

The implementation of the invention

An example embodiment of the invention is shown in FIG. 1 with respect to a self-propelled combine harvester with a threshing apparatus 4 of the so-called tangential type, that is, mounted transverse to the harvested mass stream, and a straw walker 9 located behind it as a separating apparatus. Under the straw walker 9 there is a treatment device 11, which consists of sieves 12, 13 located above each other and a fan 14. Obviously, the invention is not limited to such types of combine harvester.

The harvested mass is first selected by the reaper 2, which feeds it to the inclined feeder 3. The inclined feeder 3 transfers the harvested mass to the threshing bodies 5, 6, 7 of the threshing apparatus 4, rotating counterclockwise. In this case, the harvested mass coming from the inclined feeder 3 is first captured by the pre-acceleration drum 5 and then pulled by the threshing drum 6 through the threshing hole 17, formed by the distance between the pre-acceleration drum 5 and the threshing drum 6 and the concave 8 located beneath them. 6 mechanically processes the harvested mass, as a result of which the mixture of grain and sex is separated into the concave 8 and fed to the treatment unit 11 via the preparation tray 18. communities are high grain apparatus 11 is separated from the non-grain, i.e. the particles from the straw and chaff. From the threshing apparatus 4, the residual material stream, consisting essentially of threshed straw, is guided by the deflecting drum 7 to the key straw walker 9, which transports the residual material stream to the rear end of the combine 1. At the same time, the grain, as well as the straw and floor remaining in the stream residual material is separated and dropped onto the return pan 19 through the sieve cells of the keyboard straw walker 9. The return pan 19 returns the grain, straw and floor to the preparatory pallet 18.

Grain, straw dust and floor are fed through the preparation pan 18 to the treatment apparatus 11, in which grains are separated from the straw dust and floor. The cleaning is carried out in such a way that the sieve cells of the upper sieve 12 and the lower sieve 13 are blown by the air flow from the fan 14. The air flow loosens the harvested mass, which is transported along the upper sieve 12 and the lower sieve 13 to the rear region of the combine 1, and ensures the separation of lighter particles straw trash and gonads, while heavier grains of harvested mass fall through sieve cells. The sieves 12, 13 are partially located one above the other, so that the harvested mass is sieved in two stages with different sieving fineness, and the mesh size of the sieves 12, 13 can be adjusted. By changing the size of the sieve cells and / or the number of revolutions of the fan 14, it is possible to adjust that part of the harvested mass that passes through the sieve cells, that is, the so-called “screening” and the part of the flow that is transported along the sieve 12, 13, that is, “over-sieve mass” . Sifting in the rear region of the upper sieve 12 in the area of the descent 10, that is, in the area outside the lower sieve 13, as well as the mass of the descent at the end of the lower sieve 13 contain, as a rule, heavier particles, that is, for example, not threshed ears. This part of the harvested mass will be hereinafter referred to as the “mass of descent”. The mass of the descent falls on the inclined collecting pan 23 under the cleaning apparatus 11 and is sent to the spike transporting screw 24, which transports it to the spike elevator 16, again feeding this mass of the descent to the threshing apparatus 4. The oversize mass that has not passed through the upper sieve 12 is thrown into the upper area from combine 1 as waste treatment.

Straw with a certain percentage of grain loss follows the straw walker 9 to the rear end of the combine 1 and is discarded as separation waste.

The grain passing through both sieves 12, 13 falls onto another inclined collecting and guiding pallet 25 and slides into the grain auger 26, feeding it to the grain elevator 15. Next, the grain is transported by the grain elevator 15 to the grain hopper 20 of the combine 1 and can from there if necessary, be reloaded onto the vehicle using the unloading device 21.

In accordance with the invention, the harvester is equipped with an image detector that is installed on the path W of transporting the harvested mass — in this example, at the output of the grain elevator 15 — and with which images B of the harvested mass flowing out of the grain elevator 15 can be obtained. In this case, a simple camera 60 on charge-coupled devices serves as an image detector. On the basis of images B, the quality of the flow G of the harvested mass is checked, in particular the presence of contaminants in the flow of the harvested mass, such as residual straw particles, flooring, unfrozen ears, etc.

On figa-2D shows images of various flows of the harvested mass, while for the sake of clarity, selected images in which you can see certain fractions that do not contain grain. So, on figa presents the image of triticale grains (a hybrid of rye and wheat), and in the flow of the harvested mass, the tops of the ears are clearly visible. Figure 2b also shows an image of the triticale stream, with particles of straw dust clearly visible among the grains. Fig. 2c shows an image of a barley stream with awns, and Fig. 2d shows an image of a rapeseed stream with parts of pods.

Images of the harvested mass stream G captured by camera 60 are transferred to a control device 70, which, in turn, is connected to a user interface consisting of a monitor 72 and user device 73 and located in the operator’s operator’s cabin 22 1. Here, images B can be , for example, presented to the operator or driver F of the harvester 1.

Using the user interface 72, 73 located inside the operator’s cabin 22, the operator F can also, for example, enter the specific harvesting conditions and the crop to be harvested and, for these conditions and crops, set the optimum flow rate of the harvested mass and the corresponding optimal machine operating parameters or optimal parameters offered by the machine system.

The control device 70, which, as a rule, is also located in the operator’s cabin 22, is shown in FIG. 1 schematically in the form of a block external to the combine 1. It is shown in more detail in FIG. 3, with reference to which the explanation of the invention will be continued. .

As shown in FIG. 3, sensors are located on various working devices of the combine harvester 1, which measure the settings for individual parameters of the respective working devices 4, 11. In the example of FIG. 3, only sensors intended for the threshing device 4 and the cleaning device 11 are shown. So, on the concave 8 there is a concave clearance measuring device 61 that determines the threshing gap 17 between the concave 8 and the pre-acceleration drum 5 and / or the threshing gap 17 between the concave banem 8 and threshing drum 6 and supplies the device lumen DW concave corresponding control signal 70 as a signal value setting. A device 62 for measuring the number of revolutions of the threshing drum is provided for the threshing drum 6, which supplies the control device 70 with a signal DD of the number of revolutions of the threshing drum. The number of revolutions of the fan 14 is measured by the device 63 for measuring the number of revolutions of the fan and is also transmitted to the control device 70 in the form of a signal DG. Signals UW, OW of the cell sizes of the lower sieve 13 and the upper sieve 12 are generated by measuring devices 64 and 65 of the lower and upper sieves, respectively, and are transmitted to the control device 70. By means of appropriate, only schematically represented control loops, the control device 70 can control the concave or its adjusting device, as well as the threshing drum drive, fan drive and adjusting bodies of the lower sieve 13 and upper sieve 12 to set the desired settings for the adjustable parameters DW, DD, DG , UW, OW.

The user device 73 and the indicator device 72 are also controlled from the control device 70. However, in principle, it is also possible to directly control the indicator device 72 by the user device 73.

As again shown in FIG. 3, the control device 70 receives images B from the camera 60. The control device 70, in addition to other components, includes an image analysis unit 74 and a selection unit 75, as well as two storage units 71, 77 for recording current images B or series BS ₁ , BS ₅ images, preset or reference images RB, quality QI data and / or measured settings of adjustable parameters DW, DD, DG, UW, OW. Additionally, for example, cleaning conditions EB can be entered through the user interface 73 or from other measuring devices, which can also be recorded in the storage units 71, 77. In FIG. 3, the control device 70 is shown schematically as a single unit in which the most diverse Components. The control device 70 may be configured in the usual manner from hardware and / or software components. Typically, such a control device 70 comprises a single processor or several networked processors that contain appropriate software for controlling individual components and for processing measurement signals. For example, the selection unit 75 and the analysis unit 74 may be implemented as software. Via appropriate non-represented interfaces, the control device 70 can also receive any other measurement signals, for example, from sensors for measuring the amount of harvested mass, the amount of mass coming off the sieves, the amount of loss, etc. and issue control commands to any additional working devices, for example, to a straw straw walker 9, a grain hopper unloading device 21, to a reaper 2 and other devices.

The storage units 71, 77 are shown here as components of a control device 70. In principle, they can also be external storage devices to which the control device 70 has access to enter and further recall data. In addition, can also be used other storage devices that are already used in the harvesting machine 1 for other devices.

The same applies to the control device 70 itself. In addition, to implement the method according to the invention, control devices already existing in the machine can be involved, that is, the existing control devices can be equipped with or additionally equipped with modules necessary for carrying out the method according to the invention. This is especially true for a sweeper already equipped with an electronic hardware and software platform (for example, CLAAS CEBIS on-board electronic information system), which can be supplemented with the components necessary for carrying out the invention. In this case, only the installation of an appropriate image detector, oriented to the flow of the harvested mass, is additionally required.

Next, with reference to FIGS. 3 and 4, it will be explained how the cleaning apparatus 11 of the combine harvester of FIG. 1 can be adjusted using the method of the invention. It goes without saying that the same method can also be used to adjust the threshing apparatus 4 or other working bodies, such as a straw walker or transporting bodies. This method can also be used, for example, in a field grinder to adjust the grinding drum or other working devices.

The implementation of the method begins with the fact that in the first step I (see Fig. 4) a certain tuning mode is introduced, for example, the tuning mode, which is predefined for this particular culture in the on-board electronic information system. Then, first, in step II, in standby mode, a time delay is given for the phase of the transition process. This is necessary, since when setting the adjustable parameter, the change shows its effect on the flow of the harvested mass only after a certain period of time. When the transient phase is completed and the actual set cleaning conditions are reached, images of the harvested mass flow are created in step III.

In the presented embodiment, not one single image is created, but a whole series of nine images. As shown in figure 3, these series BS ₁ , BS ₅ images are presented to the driver or operator on the display device 72 in full in the form of a matrix with the location of the images next to each other and on top of each other. Presenting the complete series of BS ₁ , BS ₅ images has the advantage that the images provide a clearer picture of the actual state of the harvested mass, since this is not a separate snapshot.

Next, the created series of BS ₁ , BS ₅ images is recorded along with the actual settings of the adjustable parameters. When a series of images has been created, the next setup mode is entered and again in step II, the time delay for the end of the transient is given. Then, in step III, a new series of images is performed and recorded along with the settings of the adjustable parameters. The recording is carried out in a storage device 71. Images or a series of BS ₁ , BS ₅ images are recorded in it together with the actual settings of the adjustable parameters DW, DD, DG, UW, OW and the actual cleaning conditions EB. Preferably, the BS ₁ , BS ₅ series of valid images are displayed on the indicator device 72.

To find the optimal settings of the working devices, at least one setting value of the adjustable parameter of one working body is changed. However, under certain conditions, a group of adjustment values of adjustable parameters may also undergo a simultaneous change. However, changing only one setting value of an adjustable parameter has the advantage that the operator can immediately recognize the effect this particular parameter has on the quality of the harvested mass. The input of various adjustment modes for executing images, that is, the setting of specific adjustment values for adjustable parameters for various adjustment modes in which a series of images are performed, can be performed completely automatically. However, in principle, the operator through the user interface can determine in what mode or at what values of the settings of the adjustable parameters he wants to receive a series of images.

Since the quality of the flow of the harvested mass depends not only on the setting mode of the working devices, but is also largely affected by the harvesting conditions, such as the height of the harvested vegetation and the speed of the machine, it is important that the conditions of harvesting are kept constant as long as possible when shooting images. In particular, the speed must be kept constant so as not to change too much the flow rate of the harvested mass, on which the loading of the corresponding working devices depends. However, due to the fact that during the shooting of a series of images, it may happen that the cleaning conditions change significantly, for example, when turning, entering or leaving the field, it is necessary to suspend the shooting of a series of images during these working phases. For this, in the case when, when shooting a series of images in step III, the specified cleaning conditions are not met, the control process first switches back to standby mode (step IV). In this standby mode, a time delay is given until the specified harvesting conditions are again achieved, for example, until the combine harvester, after turning the maneuver, starts again with the normal harvesting aisle. After that, the previous setup mode is set again, in step V the time delay for the transient is given, and then in step III the remaining images of the series are executed. To establish the actual harvesting conditions, the combine harvester is equipped with appropriate sensors, such as a speed measuring device, a layer thickness measuring device at the inlet and / or other flow measuring devices, or signals from sensors already available in the machine for other purposes are processed accordingly to perform the method according to the invention.

After taking a series of images in all the setting modes to be input, in step VI the images are evaluated and selected. These steps will be explained in detail below with reference to FIG. When a series of images is selected, the related setup mode is entered.

Upon completion of the process, the same method can be used for the next setting value of an adjustable parameter of the same or another working device, while the setting value of an already optimized parameter is kept constant. Preferably, this method is performed in such a way that the front working apparatus is first set upstream of the harvested mass, since the loading of subsequent working apparatuses depends on the setting of the previous working apparatuses. In the same way, when establishing the sequence of settings, the dependence of various adjustable parameters of the working device should be taken into account, if possible. In the presence of mutual dependencies, the process can also be carried out repeatedly.

As shown in figure 3, to select a series of BS ₁ , BS ₅ images they are presented on the indicator device 72. This indicator device 72 has two indicator fields "Display A" and "Display B", on which two can be displayed next to each other various series of BS ₁ , BS ₅ images. Each series of BS ₁ , BS ₅ images consists of nine separate matrix images of the stream of harvested mass taken quickly one after another. Above each series of images, in the ZA field of the mode indication, corresponding adjustment values of adjustable parameters are presented, at which this series of BS ₁ , BS ₅ images was obtained.

As already mentioned, FIG. 3 shows an example implementation of a method for setting up the cleaning apparatus 11. In this case, two series of BS ₁ , BS ₅ images differ in that, as shown in the mode indication fields ZA, for the BS ₁ series _of images, the cell size the lower sieve is 10 mm, and for the BS ₅ series of images it is only 7 mm. As can be seen from the left BS ₁ series _of images, with the size of the lower sieve cells of 10 mm in the flow of the harvested mass, particles of straw dust still occur, and the right series of BS ₅ images shows that when the size of the cells of the lower sieve is 7 mm, straw is no longer there.

The operator F can, using the user device 73, use the keys 80 (-), 81 (+) to scroll through the recorded series of images (frames) in the “current” indicator field (“Display A” or “Display B”). In other words, it can call from the storage device 71 a certain series of BS ₅ images, which is presented to him in the current indicator field. The “current” indicator field is characterized in that its designation (in this case, “Indication B”) has a black background. At the same time, the appropriate settings for the adjustable parameters are indicated in the mode display field above. Under the images in the field VK of the image recognition code is indicated the image code, for example, name or number, and in this example “Image 1” and “Image 5”. This makes it easier for the operator F to search for images or series BS ₁ , BS _{5 of} images in the storage device, or to search again for an image or series of images already shown. Using the keyboard cursor 82, moving it to the right or left, it can move from one indicator field to another. If he wants to enter the setup mode corresponding to a certain series of images, that is, select a series of images, he can press the OK button of cursor 82. In this case, an AB selection command is transmitted to the control device 70. The adjustment method according to the invention can be called up in the senior control menu. The "ESC" key serves to again go up one level in the menu.

In addition, the operator is able, for example, to call on one of the indicator fields the current series of images and in parallel on the other - control or reference images RB, which are recorded in the second storage device 77 along with the QI data of the quality of the flow of the harvested mass for these reference images. Quality QI data may mean, for example, the percentage of contaminants or similar characteristics. Quality QI data may be presented, for example, in the indicator field ZA of the setting mode. Here, EB harvesting conditions may also be presented with the given reference RB images. Comparison of current images with reference images RB facilitates the operator to evaluate the current images / series BS ₁ , BS ₅ images.

In a particularly convenient embodiment of the invention, an automatic qualitative analysis of captured images or series of BS ₁ , BS ₅ images is performed using the analysis unit 74. In this case, using the usual method of pattern recognition, images are checked for the presence of unwanted fractions in the removed mass. Such an analysis is relatively simple, since the fractions sought for the most part have certain characteristics that clearly stand out in the images. So, for example, as shown in figure 2, the tops of the ears among the triticale grains are recognized very easily. It is also easy for very simple signs in the mass of grains to recognize straw dust and pods (fig.2b and 2C). To do this, you only need to find parallel edges on the image, spaced from each other at a certain distance. The same applies to the parts of the awns shown in fig.2d. Corresponding characteristic features of the desired fractions can be recorded in the storage device 71, 77, and then the analysis unit 74 may involve them in the analysis. Further, for example, the number of impurities within the image can be simply calculated and the degree of contamination calculated from it. If there are several images in the series, for example, the average value can be determined.

The analysis result A can then be transmitted to the selection unit 75, which, based on the analysis result A, automatically selects the desired image. Alternatively, the analysis result A, together with the BS ₁ , BS ₅ series of images, will be output to an indicator device to facilitate the selection for the operator F. There is also an option in which the selection unit 75, by appropriately marking the BS ₁ , BS ₅ series of images, offers select a series, and then the F operator can accept or reject the offer.

After the series of BS ₅ images is selected either visually, or automatically or semi-automatically, the settings for the adjustable parameters DW, DD, DG, UW, OW related to this series are introduced. To this end, the control device 70 regulates the working apparatuses 4, 11 by means of control loops so that the desired tuning values of the adjustable parameters DW, DD, DG, UW, OW are predefined as predetermined values. Regardless of how the selection is made (automatically, semi-automatically or by the operator), when adjusting, it is preferable to take into account not only the quality of the harvested mass represented by the images, but also other parameters, such as mass flow rate and / or loss of cleaning or separation.

In conclusion, it should be noted once again that the combine harvester, system, and specific adjustment method described in the drawings are only examples of the invention. For a person skilled in the art it is clear that during the implementation of the invention, various changes and modifications are possible without going beyond the scope of protection. For reliability reasons, the adjustment system can be made in such a way that at any time during the cleaning process, the operator can manually prioritize individual or all of the set machine parameters.

Claims (17)

1. A method of adjusting at least one working device (4, 11) of a harvesting machine (1), comprising the following operations:
in the position behind the corresponding working device (4, 11) on the path (W) of transporting the harvested mass, images (B) or series (BS ₁ , BS ₅ ) of images of the flow (G) of the harvested mass are created for various settings with certain settings for adjustable parameters working apparatus (4, 11),
images (B) or series (BS ₁ , BS ₅ ) of images are recorded with reference to them of the settings of the adjustable parameters of the corresponding setting mode,
based on the analysis of the images (B) or series (BS ₁ , BS ₅ ) of the images and the flow of the harvested mass (G) represented on them, an image (B) or a series (BS ₅ ) of images is selected, and
using the selected image (B) or series (BS ₅ ) of images, the corresponding settings for the adjustable parameters are set on the corresponding working device (4, 11). 2. The method according to claim 1, characterized in that at least one adjustable parameter or one group of adjustable parameters of the working apparatus (4, 11) is purposefully changed during the optimization process while keeping the remaining adjustable parameters constant and with a certain setting of this adjustable parameter or group of adjustable parameters create an image (B) or a series (BS ₅ ) of images. 3. The method according to claim 1 or 2, characterized in that, in addition to images attached to the images (B) or series (BS ₅ ), the settings of adjustable parameters of the working apparatus to be adjusted (4, 11), the settings of adjustable parameters of other working devices of the harvesting machine (1) at the time of imaging. 4. The method according to claim 1 or 2, characterized in that the image (B) or a series (BS ₅ ) of images of the stream (G) of the harvested mass at a certain setting mode is created after a specified period of time has elapsed, after which the corresponding setting mode of the working device is entered (4, 11). 5. The method according to claim 1 or 2, characterized in that the images (B) or series (BS ₅ ) of images created in various settings are presented to the operator of the harvesting machine (1) for selection. 6. The method according to claim 5, characterized in that the representation of images (B) or series (BS ₅ ) of images relating to different settings is performed at least partially in parallel. 7. The method according to claim 1 or 2, characterized in that the images (B) or series (BS ₅ ) of images created under various settings are automatically analyzed, and based on the result of the analysis, an image (B) or series (BS ₅ ) is selected ) images. 8. The method according to claim 7, characterized in that the selection of the image (B) or series (BS ₅ ) of images based on the result of the analysis is performed automatically. 9. The method according to claim 1 or 2, characterized in that the reference image (RB) is involved in the analysis of the image (B) or series (BS ₅ ) of images. 10. The method according to claim 9, characterized in that to each reference image (RB) is attached quality data of the flow of the harvested mass depicted in this reference image (RB). 11. The method according to claim 1, characterized in that images (B) or series (BS ₅ ) of images are created on the path (W) of transporting the harvested mass between the outlet of the treatment apparatus (11) and the storage (20) of the harvested mass or on the unloading device (21) sweeper (1). 12. The method according to claim 1, characterized in that in one mode of setting the image or series of images, the flow of the harvested mass is created at various positions on the path of transporting the harvested mass. 13. A harvesting machine (1) comprising
working apparatus (4, 11),
an image detector (60) located in a position behind the corresponding working device (4, 11) on the path (W) of transporting the harvested mass and intended to create images (B) or series (BS ₁ , BS ₅ ) of images of the flow (G) of the harvested mass ,
a control device made in such a way that the working device (4, 11) is brought into various settings by controlling with the installation of certain settings of adjustable parameters, and with different settings of the working device (4, 11) images (B) or series ( BS ₁ , BS ₅ ) images of the flow (G) of the harvested mass,
a storage unit for recording images (B) or series (BS ₁ , BS ₅ ) of images with reference to the settings of the adjustable parameters of the corresponding setting mode,
a selection unit for selecting an image (B) or a series (BS ₁ , BS ₅ ) of images based on the analysis of the flow of the harvested mass shown in the images (B) or series (BS ₁ , BS ₅ ) of the images,
a control device configured to adjust the corresponding working apparatus (4, 11) using the settings of the adjustable parameters related to the selected image or the selected series (BS ₅ ) of images. 14. The harvester according to claim 13, characterized in that it comprises an analysis unit for automatically analyzing images (B) or series (BS ₁ , BS ₅ ) of images created in various setting modes. 15. The harvesting machine according to 14, characterized in that the selection unit is configured to automatically select an image (B) or a series (BS ₁ , BS ₅ ) of images based on the analysis result. 16. Harvesting machine according to any one of paragraphs.13-15, characterized in that the selection unit comprises an indicator device for presenting to the operator of the harvesting machine (1) for selecting images (B) or series (BS ₁ , BS ₅ ) of images created by various setting modes, as well as the user device for receiving a selection command from the operator. 17. The harvesting machine according to any one of paragraphs.13-15, characterized in that it contains many image detectors located in different positions on the path of transportation of the harvested mass.

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